Application of SpaceCube in a Space Flight System Dave Petrick NASA/GSFC 9/1/2009 1 MAPLD 2009 - Session A.

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Application of SpaceCube in a Space Flight System

Dave PetrickNASA/GSFC

9/1/2009

MAPLD 2009 - Session A

MAPLD 2009 - Session A 2

SpaceCube Development TeamMike LinWalt BradleyDave PetrickGordon SeagraveJohn GodfreyBeverly SettlesTracy PriceGary CrumRobin RipleyDan EspinosaAlessandro GeistDorian SeagraveWayne GreenwoodFrank CepollinaTom FlatleyGiri NadendlaMadhu KadariBo NaaszWill Clement

Steve QueenJohn VaneepoelDwaine MolockJane MarquartDan GroganClara HollenhorstTerecita MayorgaVarsha PatelKrystal KennedyMiles NewmanJack LorenzQuang NguyenMatt OwensPietro SparacinoDarryl YoungerRichard HicksEd HicksSteve Judy

GSFC Radiation GroupGSFC Parts GroupOrbital SciencesNorthrup GrummanJackson and TullAdvanced Optical SystemsSEAKRCRI

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GSFC SpaceCube• Small, light-weight, reconfigurable multi-processor platform for space flight

applications demanding extreme processing capabilities• Based on Xilinx Virtex 4 FX60 FPGAs, 2 per processor card• Stackable architecture

Flight Box

Mechanical: 7.5-lbs, 5”x5”x7”Power: 37W (HST Application)


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SpaceCube Processor Card• General: 4”x4” card, Back-to-Back FPGAs (x2), 7W typical power• Memory: 1GB SDRAM, 1GB Flash, 16KB SRAM, 16KB PROM• Interfaces: 20 bi-dir differential signals, JTAG• Backplane:Power, 42 single-ended, 8 LVDM, 2 I2C, POR


XilinxV4FX60Xilinx

V4FX60

Aeroflex UT6325Aeroflex

UT6325

SDRAM256MBSDRAM

SDRAM512MBFLASH

Stac

king

Con

nect

or (1

22 p

in)

Diff RXQuadRX

SDRAM256MB SDRAM

Diff RXQuadRX

16KPROM

16KBSRAM

LVDMLVDM

LVDMLVDM

Diff RXQuadTX

Diff RXQuadTX

QuadTX

QuadRX


Hubble Servicing Mission 4 (STS-125)• Relative Navigation Sensors (RNS) – HST Payload– Record images of HST during docking and release, in

particular the Soft Capture Mechanism– Perform on-orbit position and attitude estimation (Pose)

• RNS SpaceCube: Main Avionics Box– Controlled 3 cameras, GPS, 960GB memory, telemetry module,

shuttle Ku downlink– Hosted Linux, VxWorks, C&DH, Automatic Gain and Integration

Control, 2 pose image processing algorithms, TMR’d self-configuration scrubber using ICAP

– Recorded GPS/AGC/POSE flight logs to flash– Consisted of 2 processors, 2 low-voltage power cards, 2

digital control cards, 1 JPEG2000 compression card


Relative Navigation Sensors

• RNS originated from HST robotic service mission• RNS Hardware– 3 1024x1024 cameras– GPS Navigator– SpaceCube– Telemetry Module– Recorder (8 120GB hard drives)– Power Module– Ground Terminal

• RNS operations conducted from JSC Space Shuttle Mission Control Center, Houston TX

FPGAs34

114204

TOTAL: 28

Xilinx 11

Actel 11

Aeroflex 6

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RNS Hardware

STS-125 Payload BayRNS Avionics Panel

MULE Carrier


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On Orbit

RNS Cameras

Tough to see, but our cameras and SpaceCube

are watching


SpaceCube Functional Block Diagram


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Xilinx FPGA Design(s)• Heavy PowerPC usage• Logic: 62.5-125MHz, Processor: 250MHz• Used 3 of 4 Xilinxs at 60-80% resource utilization


PowerPC

SDRAMBRAMCamera Core

Edge Core

Clock/Reset Manager

FPU

PLB

FCBOPB

62.5-MHz USRTINTC Debug

UARTPOSE UART

Self-Scrubber(XTMR)

High-Level Example Xilinx Design (POSE #1 FPGA on Processor Card 1)

11MAPLD 2009 - Session A

High Bay Testing

MSFC Flight Robotics Lab Testing

SimulationTesting

Barrage of System Testing

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Tracking Algorithms on SpaceCube

RNS Tracking Solution Flight Image

Long Range Camera on Rendezvous Short Range Camera on Deploy

RNS Tracking SolutionFlight Image



RNS Results Summary

• SpaceCube enabled RNS to meet all objectives– Recorded 6 hours of camera and GPS data– Successfully tracked HST during rendezvous for 21

minutes and deploy for 15 minutes– Sent 100,000+ compressed images to ground

• SpaceCube powered for 60 hours (8 in SAA)– 2 configuration SEUs in SAA scrubbed out– 1 PowerPC SEE that watchdog repaired


HST Tracking

Rendezvous Deploy


What’s Next?

• Just completed raw imagery downloads at GSFC• Looking for another flight for RNS hardware– Possible ISS flight for robotic demonstration– Hubble Robotic De-orbit Mission?

• Flight spare SpaceCube going to ISS (STS-129)– Serve as NASA test bed for radiation mitigation

• Building two new versions of SpaceCube– Covered in Session E presentation


Questions?

Application of SpaceCube in a Space Flight System Dave Petrick NASA/GSFC 9/1/2009 1 MAPLD 2009 - Session A.

Documents

rns spacecube

session a9 slide

por mapld

application of spacecube

session a6 fpgas

gb sdram

gsfc spacecube small

houston tx mapld